隨著機器人的發展，機器人常面臨在特殊地形工作的挑戰，例如應付大樓倒塌的救災機器人、在屋簷邊的天溝機器人、在泥濘中的稻田除草機器人…等等，當機器人在這些特殊的地形發生故障或是需要更換電池等需要人為救回機器人的時候，往往使操作者暴露在這些不佳的環境，因此如何有效的自動救回機器人是一項重要的課題。
本論文旨在開發一款具有多個旋翼的無人飛機之爪夾系統，利用SolidWorks設計並由3D列印製造適用於一個具有旋翼之無人飛機內之爪夾，使用Pixracer飛控板搭載Raspberry pi 3、Raspberry pi camera，透過偵測目標物上特定的影像標示ArUco mark實現定位與自動飛行並進行夾取與救回目標物的動作。
程式在ROS系統架構下運作，其MAVROS軟體包與允許通過MAVLink協議控制無人機，並提供透過UDP MAVLink於連接地面站軟體QgroundControl實時監控無人機狀態。
實驗結果顯示無操作四旋翼經驗的人員能夠輕易地操作本文的GUI介面；無人機能通過GPS及90cm*120cm的影像標籤地圖實現定位、導航，並以抓取的方式載回預設的目標物(重量397g)。

With the development of robots, robots are faced with the challenge of working on special terrain, such as rescue robots to deal with collapsed buildings, gutter robots on the eaves of the roof and weeding robots in the muddy rice fields, etc. These robots can be failed or needed to replace the battery in these special terrains. In order to deal these situations, the operators will be exposed to these unfriendly environments. So, how to retrieve robot automatically becomes an important issue.
In this thesis, a gripper of an unmanned aerial vehicle has been developed. The gripper is designed by SolidWorks and made by 3D-printing. The unmanned aerial vehicle uses Pixracer flight control board and is equipped with Raspberry Pi 3 and Raspberry Pi camera. Via detecting the specific image mark – ArUco marks on the target object to achieve precise positioning. Therefore, it realizes automatic flight and retrieves target object.
All the programs are run in ROS architecture. MAVROS software package allows the unmanned aerial vehicle to be controlled by MAVLink protocol. MAVROS also supports real-time monitoring on the unmanned aerial vehicle status through UDP MAVLink connecting to the ground station software – QgroundControl.

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